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Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
The localization of directional RF emitters presents significant challenges for electronic warfare applications. Traditional localization methods, designed for omnidirectional emitters, experience degraded performance when applied to…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
In this paper, we propose a new wireless sensing system equipped with the movable-antenna (MA) array, which can flexibly adjust the positions of antenna elements for improving the sensing performance over conventional antenna arrays with…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
In a visible light positioning (VLP) system, a receiver can estimate its location based on signals transmitted by light emitting diodes (LEDs). In this manuscript, we investigate a quasi-synchronous VLP system, in which the LED transmitters…
As Wireless Sensor Networks are penetrating into the industrial domain, many research opportunities are emerging. One such essential and challenging application is that of node localization. A feed-forward neural network based methodology…
Indoor positioning using UWB technology has gained interest due to its centimeter-level accuracy potential. However, multipath effects and non-line-of-sight conditions cause ranging errors between anchors and tags. Existing approaches for…
The challenge to synchronize augmented reality (AR) across sessions/devices has been solved by relying solely on vision-feature mapping, which is suboptimal in scaling workable space and flaws under visual changes in surroundings. This…
In sensor networks characterized by irregular layouts and poor connectivity, anisotropic properties can significantly reduce the accuracy of distance estimation between nodes, consequently impairing the localization precision of…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Most deep learning object detectors are based on the anchor mechanism and resort to the Intersection over Union (IoU) between predefined anchor boxes and ground truth boxes to evaluate the matching quality between anchors and objects. In…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
In Swarm Robotic Systems (SRSs), only a few robots are equipped with Global Positioning System (GPS) devices, known as anchors. A challenge lies in inferring the positions of other unknown robots based on the positions of anchors. Existing…
We present the design of a radio antenna system for obtaining instantaneous bearing measurements towards a radio emitter. Our work is motivated by applications where robots are used for localizing and tracking radio-tagged wildlife. The…
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…